Welding1D.world

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[constants]
  l1:=1
  l2:=1
  l3:=1
  x:=0.25
  y:=0.75
  theta:=pi/2

[links]
  ground: body "bodies/beam.off" blue
  link1: body "bodies/link1.off" grey
         sphere 0.04 (0,0,0) black
         sphere 0.04 (l1,0,0.05) black
  link2: body "bodies/link2.off" grey
         sphere 0.04 (l1,0,0.1) black
  link3: body "bodies/link3.off" grey
         body "bodies/gripper.off" black
         % now some artistic representation of the welding tool
         cylinder 0.03 (l3,0,0.1) (l3+0.2,0,0.1) white
         sphere 0.03  (l3+0.2,0,0.1) white
         cylinder 0.02 (l3+0.1,0,0.1) (l3+0.3,0,0.1) black decoration
         sphere 0.02 (l3+0.3,0,0.1) red decoration
  link4

[joints]
  revolute: ground (0,0,0) (0,0,1) 
            link1  (0,0,0) (0,0,1)
  revolute: link1 (l1,0,0) (l1,0,1) 
            link2 (0,0,0) (0,0,1)
  revolute: link2 (l2,0,0) (l2,0,1) 
            link3 (0,0,0) (0,0,1)

  fix: link4 link3
       Rz(theta)

  prismatic: link4 (0,0,0) (1,0,0) 
             ground (x,y,0) (x+1,y,0) 
             range[-20,20]